The Robust Control for Multi-Agent Coordination with Switching Topology and Time-Delay
|Keywords||Multi-agent systems Consistency Robust Control Delay systems Switching networks|
Consistent stability and robust control of multi-agent systems is an important topic of research in recent years to control the time delay phenomenon in actual multi-agent systems are ubiquitous , and often result in poor system performance of one of the main reasons . Thus, the study of multiple individuals Delay system consistent with stable , robust control and controller design method has important significance . Multi-agent linear systems with switching as the research object , using the Lyapunov stability theory , robust control theory and matrix inequality technique , combined with the LMI technology , research leader of the second-order dynamic individual multi- delay switched systems robust control issues such as the main content of this paper and the results are as follows : 1. studied a class leader of the second-order dynamic multi-agent Delay switch system L of 2 sub > - L ∞ < / sub> control . to Lyapunov methods and L of 2 sub > sub > - of L ∞ control theory , combined with LMI techniques , given undirected switching network Delay and Delay under multi- agent systems tends to consistent criterion and corresponding performance indicators circles show expression .2 . research leader of the multi- class individuals a the to delay network L 2 < / sub > - L ∞ control based on Lyapunov method to construct a Lyapunov matrix combined with Delay and Delay , under L of 2 sub > - the L ∞ sub > control theory gives a sufficient condition for the relatively simple system to achieve consistent .3 . study class leader dynamic multi- individual delay switched network H ∞ control analysis and research using Lyapunov method and H ∞ control theory , combined with the line matrix inequality method gives a sufficient condition to the switching system under the conditions of the Delay and Delay system to achieve consistent as a special case , we no given directly to the conclusion in the case tends to the network according to the switching network consistent with a sufficient condition .